Robot software architecture based on IPv6

Componentization is an important method to improve the reusability of robot software and reduce the difficulty of system design. To reuse robot software component on different robot hardware, the logical abstraction and standardization of hardware is critical. In this paper, an IPv6 based robot structure is presented to reuse the robot hardware and software resources. Firstly the software architecture and static model and run-time model of component are analyzed. Secondly the IPv6 network structure for robots is presented to solve logical separations and the connections of logical network from hardware. And a 6-DOF joint robot structure instance is constructed to illustrate that the application can be implemented by invoking reusable components and logical network devices mapped in IPv6. Finally two 6-DOF joint robots are introduced for experiment, and the point-to-point procedure running on these two robots establishes that the presented architecture is effective for robot software reuse.